Put 12-16 thin bamboo skewers in water to soak; this prevents them charring during cooking. Mix all the marinade ingredients together in a bowl and set aside.

Thread the vegetables on to the skewers and place them in a shallow dish; season, then pour the marinade over them. Leave to marinate at room temperature for up to 4 hours.

To make the peanut sauce, heat the oil in a small pan and add the garlic and chilli. Cook for 1-2 minutes, then add the brown sugar and soy sauce and stir until the sugar has dissolved. Mix in the peanut butter and lemon juice, then pour in the coconut milk. Bring to the boil, stir and simmer for about 10 minutes or until the mixture thickens. Season to taste.

Remove the vegetable skewers from the marinade, brushing off any clinging marinade ingredients. Place the skewers on a barbecue or under a very hot grill and cook, turning frequently, until all the vegetables are charred on the outside but soft and succulent inside. Serve them immediately with the peanut sauce as a dip, which can be warm or cold.